Update Example 17 to also showcase new HardwareStatus Publisher #887
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christophfroehlich
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Oct 25, 2025
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Some minor details, mostly fixing RST syntax:
- Should we also add the usage of the new CLI verb here?
- Let's use this example for an integration test, and add
WaitForTopictests in test_robot_launch.py? - please revert the double->int change as we have decided on the other PR.
example_17/doc/userdoc.rst
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| This example shows how to publish diagnostics and status messages from a hardware component using ROS 2 features available within the ``ros2_control`` framework. | ||
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| It is essentially the same as Example 1, but with a modified hardware interface plugin that demonstrates two methods for publishing status information: | ||
| 1. Using the standard ``diagnostic_updater`` on the default node to publish to the ``/diagnostics`` topic. This is the recommended approach for hardware status reporting. |
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we have two recommended approachs here ;) what is best practice?
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yea I think the wording was not clear enough,
- is supposed to be for doing status reporting with diagnostics
- is for standard hardware status reporting as defined by https://github.com/ros-controls/roadmap/blob/master/design_drafts/hardware_status.md
I have updated in e87c860, hope thats better
| - Uses message type ``diagnostic_msgs/msg/DiagnosticArray``. | ||
| - Custom node: | ||
| - Is named ``<hardware_name>_custom_node`` (e.g., ``/rrbot_custom_node``). | ||
| - Publishes on the topic ``/rrbot_custom_status``. |
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missing newlines also above, but I can't suggest in no-change lines
example_17/doc/userdoc.rst
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why is this empty?
| This will create a publisher on the topic ``/rrbot/hardware_status``. | ||
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| .. _diagnostic_publisher_implementation: |
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after The key steps are: there is also a newline missing, sphinx does not like this.
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refer dc64b9d
yea my sphinx skills are really subpar lol, need to improve
This reverts commit b8e16cd.
Co-authored-by: Christoph Fröhlich <[email protected]>
Co-authored-by: Christoph Fröhlich <[email protected]>
Co-authored-by: Christoph Fröhlich <[email protected]>
Co-authored-by: Christoph Fröhlich <[email protected]>
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Brief
This PR showcases the feature added by ros-controls/ros2_control#2476